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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
17a0d074af
Wires the airborne composition root for replay-as-configuration (ADR-011):
- compose_root(config) branches on config.mode in {"live", "replay"}.
Live behaviour is unchanged; replay builds ReplayInputAdapter,
attaches JsonlReplaySink, and injects NoopMavlinkTransport.
- New private module runtime_root/_replay_branch.py holds the
replay-only strategy graph + build-flag gate + calibration loader.
- Config gains Config.mode (Literal["live","replay"]) plus
Config.replay sub-block with nested ReplayAutoSyncConfig that mirrors
the AZ-405 AutoSyncConfig DTO; YAML loader + ENV map updated.
Absorbs the AZ-400 transport-seam retrofit that AZ-401 strictly
required but AZ-400 had not delivered:
- New MavlinkTransport Protocol (write/bytes_written/close).
- NoopMavlinkTransport (replay; build-flag gated, idempotent close,
thread-safe byte counter).
- SerialMavlinkTransport (live, no-op restructure of existing pymavlink
byte path; encoder retrofit to actually USE it is the AZ-558
follow-up).
AZ-401 AC-9 (NoopMavlinkTransport.bytes_written > 0 after C8 encoders
run) is BLOCKED on AZ-558 — the encoder routing retrofit is out of
the AZ-401 task envelope (FORBIDDEN files: pymavlink_ardupilot_adapter,
msp2_inav_adapter). AZ-558 spec, batch_61_review.md, and the test's
@pytest.mark.skip rationale all carry the deferral reason.
Tests: 22 compose_root replay-branch tests + 17 transport tests.
Full regression: 2063 passed, 86 environment-skips, 1 documented
skip (AC-9 / AZ-558), 1 pre-existing flaky perf test deselected.
Co-authored-by: Cursor <cursoragent@cursor.com>
42 lines
1.0 KiB
Python
42 lines
1.0 KiB
Python
"""C8 FC Adapter smoke test — AC-9 (legacy) + AZ-390 public-API gate.
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AZ-401 expands the public Protocol surface with ``MavlinkTransport``,
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the outbound byte-stream seam shared by ``SerialMavlinkTransport``
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(live) and ``NoopMavlinkTransport`` (replay).
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"""
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def test_interface_importable() -> None:
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# Assert
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from gps_denied_onboard.components.c8_fc_adapter import (
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EmittedExternalPosition,
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FcAdapter,
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GcsAdapter,
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MavlinkTransport,
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ReplaySink,
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)
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for sym in (
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FcAdapter,
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GcsAdapter,
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ReplaySink,
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EmittedExternalPosition,
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MavlinkTransport,
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):
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assert sym is not None
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def test_internal_modules_not_in_public_all() -> None:
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"""AZ-390 AC-8: only the contract symbols appear in ``__all__``."""
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# Arrange
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from gps_denied_onboard.components import c8_fc_adapter
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# Assert
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assert set(c8_fc_adapter.__all__) == {
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"EmittedExternalPosition",
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"FcAdapter",
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"GcsAdapter",
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"MavlinkTransport",
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"ReplaySink",
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}
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